Defines a path planning problem for one robot. More...
#include <hpp/core/problem.hh>
Public Member Functions | |
Problem (DevicePtr_t robot) | |
Create a path planning problem. More... | |
virtual | ~Problem () |
virtual void | checkProblem () const |
Check that problem is well formulated. More... | |
Problem definition | |
const DevicePtr_t & | robot () const |
return shared pointer to robot. More... | |
void | robot (const DevicePtr_t &device) |
set robot Set steering method, distance function and path validation to default values More... | |
const ConfigurationPtr_t & | initConfig () const |
Get shared pointer to initial configuration. More... | |
void | initConfig (const ConfigurationPtr_t &inConfig) |
Set initial configuration. More... | |
const Configurations_t & | goalConfigs () const |
Get number of goal configuration. More... | |
void | addGoalConfig (const ConfigurationPtr_t &config) |
Add goal configuration. More... | |
void | resetGoalConfigs () |
Reset the set of goal configurations. More... | |
Steering method and distance function | |
void | steeringMethod (const SteeringMethodPtr_t &sm) |
Set steering method. More... | |
SteeringMethodPtr_t | steeringMethod () const |
Get steering method. More... | |
void | distance (const DistancePtr_t &distance) |
Set distance between configurations. More... | |
const DistancePtr_t & | distance () const |
Get distance between configuration. More... | |
Configuration validation | |
void | configValidation (const ConfigValidationsPtr_t &configValidations) |
Set configuration validation methods Before starting tos solve a path planning problem, the initial and goal configurations are checked for validity. More... | |
const ConfigValidationsPtr_t & | configValidations () const |
Get configuration validation methods. More... | |
Path validation | |
Set path validation method | |
void | pathValidation (const PathValidationPtr_t &pathValidation) |
PathValidationPtr_t | pathValidation () const |
Get path validation method. More... | |
Path projector | |
Set path projector method | |
void | pathProjector (const PathProjectorPtr_t &pathProjector) |
PathProjectorPtr_t | pathProjector () const |
Get path projector method. More... | |
Constraints applicable to the robot | |
void | constraints (const ConstraintSetPtr_t &constraints) |
Set constraint set. More... | |
const ConstraintSetPtr_t & | constraints () const |
Get constraint set. More... | |
Obstacles | |
void | addObstacle (const CollisionObjectPtr_t &object) |
Add obstacle to the list. More... | |
void | removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectPtr_t &obstacle) |
Remove a collision pair between a joint and an obstacle. More... | |
const ObjectVector_t & | collisionObstacles () const |
Vector of objects considered for collision detection. More... | |
void | collisionObstacles (const ObjectVector_t &collisionObstacles) |
Set the vector of objects considered for collision detection. More... | |
Defines a path planning problem for one robot.
A path planning problem is defined by
hpp::core::Problem::Problem | ( | DevicePtr_t | robot | ) |
Create a path planning problem.
robot | robot associated to the path planning problem. |
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virtual |
void hpp::core::Problem::addGoalConfig | ( | const ConfigurationPtr_t & | config | ) |
Add goal configuration.
void hpp::core::Problem::addObstacle | ( | const CollisionObjectPtr_t & | object | ) |
Add obstacle to the list.
object | a new object. |
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virtual |
Check that problem is well formulated.
const ObjectVector_t& hpp::core::Problem::collisionObstacles | ( | ) | const |
Vector of objects considered for collision detection.
void hpp::core::Problem::collisionObstacles | ( | const ObjectVector_t & | collisionObstacles | ) |
Set the vector of objects considered for collision detection.
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inline |
Set configuration validation methods Before starting tos solve a path planning problem, the initial and goal configurations are checked for validity.
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inline |
Get configuration validation methods.
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inline |
Set constraint set.
constraints | a set of constraints If problem contains a steering method, constraints are passed to the steering method. |
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Get constraint set.
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Set distance between configurations.
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Get distance between configuration.
const Configurations_t& hpp::core::Problem::goalConfigs | ( | ) | const |
Get number of goal configuration.
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inline |
Get shared pointer to initial configuration.
void hpp::core::Problem::initConfig | ( | const ConfigurationPtr_t & | inConfig | ) |
Set initial configuration.
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inline |
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Get path projector method.
void hpp::core::Problem::pathValidation | ( | const PathValidationPtr_t & | pathValidation | ) |
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Get path validation method.
void hpp::core::Problem::removeObstacleFromJoint | ( | const JointPtr_t & | joint, |
const CollisionObjectPtr_t & | obstacle | ||
) |
Remove a collision pair between a joint and an obstacle.
the | joint that holds the inner objects, |
the | obstacle to remove. |
void hpp::core::Problem::resetGoalConfigs | ( | ) |
Reset the set of goal configurations.
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inline |
return shared pointer to robot.
void hpp::core::Problem::robot | ( | const DevicePtr_t & | device | ) |
set robot Set steering method, distance function and path validation to default values
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inline |
Set steering method.
sm | steering method. If problem contains constraints they are passed to the steering method. |
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inline |
Get steering method.